From fd2dcb6180e00e3706cf63a05a3b83b927a02304 Mon Sep 17 00:00:00 2001
From: Justin Carpentier <justin.carpentier@inria.fr>
Date: Sat, 16 Nov 2019 17:01:30 +0100
Subject: [PATCH] core: improve conversion checking

---
 include/eigenpy/details.hpp | 40 +++++++++++++++++++++++++++++++++++--
 1 file changed, 38 insertions(+), 2 deletions(-)

diff --git a/include/eigenpy/details.hpp b/include/eigenpy/details.hpp
index b9c37ac1f..e7becd589 100644
--- a/include/eigenpy/details.hpp
+++ b/include/eigenpy/details.hpp
@@ -378,17 +378,43 @@ namespace eigenpy
 
       if(MatType::IsVectorAtCompileTime)
       {
+        const Eigen::DenseIndex size_at_compile_time
+        = MatType::IsRowMajor
+        ? MatType::ColsAtCompileTime
+        : MatType::RowsAtCompileTime;
+        
         switch(PyArray_NDIM(pyArray))
         {
           case 0:
             return 0;
           case 1:
-            return pyArray;
+          {
+            if(size_at_compile_time != Eigen::Dynamic)
+            {
+              // check that the sizes at compile time matche
+              if(PyArray_DIMS(pyArray)[0] == size_at_compile_time)
+                return pyArray;
+              else
+                return 0;
+            }
+            else // This is a dynamic MatType
+              return pyArray;
+          }
           case 2:
           {
             // Special care of scalar matrix of dimension 1x1.
             if(PyArray_DIMS(pyArray)[0] == 1 && PyArray_DIMS(pyArray)[1] == 1)
-              return pyArray;
+            {
+              if(size_at_compile_time != Eigen::Dynamic)
+              {
+                if(size_at_compile_time == 1)
+                  return pyArray;
+                else
+                  return 0;
+              }
+              else // This is a dynamic MatType
+                return pyArray;
+            }
             
             if(PyArray_DIMS(pyArray)[0] > 1 && PyArray_DIMS(pyArray)[1] > 1)
             {
@@ -409,6 +435,16 @@ namespace eigenpy
 #endif
               return 0;
             }
+            
+            if(size_at_compile_time != Eigen::Dynamic)
+            { // This is a fixe size vector
+              const Eigen::DenseIndex pyArray_size
+              = PyArray_DIMS(pyArray)[0] > PyArray_DIMS(pyArray)[1]
+              ? PyArray_DIMS(pyArray)[0]
+              : PyArray_DIMS(pyArray)[1];
+              if(size_at_compile_time != pyArray_size)
+                return 0;
+            }
             break;
           }
           default: